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A
addCost(int[], int[], int, double)
- Method in class PathPlan.
MDP
Add a constant to the costs at a list of states.
addGoal(int)
- Method in class PathPlan.
PathPlanner
Add a goal state.
addGoal(int, double)
- Method in class PathPlan.
PathPlanner
Add a goal state with a specified cost.
C
checkOrder()
- Method in class PathPlan.
Discretizer.Rectangle
Check to make sure coordinates are in correct order
clear()
- Method in class PathPlan.
MDP
Reset all edge costs to default.
convertImage(Image, float, float)
- Method in class PathPlan.
MapFile
convertImage(float)
- Method in class PathPlan.
MapFile
costOf(int)
- Method in class PathPlan.
PathPlanner
Get the planned cost of a state.
costOK(int)
- Method in class PathPlan.
PathPlanner
Check whether we know the cost-to-go of a state.
D
discretizeOval(Discretizer.Rectangle, int[][])
- Method in class PathPlan.
Discretizer
Find all of the discrete coordinates within an axis-oriented elliptical region.
Discretizer
- Class in
PathPlan
Handles 2D coordinate transforms and discretization.
Discretizer()
- Constructor for class PathPlan.
Discretizer
Discretizer.Point
- Class in
PathPlan
A point which has corresponding coordinates in the discrete and continuous worlds.
Discretizer.Point(int, int)
- Constructor for class PathPlan.
Discretizer.Point
Make a point from its discrete coordinates.
Discretizer.Point(double, double)
- Constructor for class PathPlan.
Discretizer.Point
Make a point from its continuous coordinates.
Discretizer.Rectangle
- Class in
PathPlan
A rectangle which has corresponding coordinates in the discrete and continuous worlds.
Discretizer.Rectangle(int, int, int, int)
- Constructor for class PathPlan.
Discretizer.Rectangle
Make a Rectangle from its discrete coordinates.
Discretizer.Rectangle(double, double, double, double)
- Constructor for class PathPlan.
Discretizer.Rectangle
Make a Rectangle from its continuous coordinates.
draw(Graphics, int, int, int, int)
- Method in class PathPlan.
MapFile
dx
- Variable in class PathPlan.
Discretizer.Point
Continuous coordinates.
dxmax
- Variable in class PathPlan.
Discretizer.Rectangle
Continuous coordinates.
dxmin
- Variable in class PathPlan.
Discretizer.Rectangle
Continuous coordinates.
dy
- Variable in class PathPlan.
Discretizer.Point
Continuous coordinates.
dymax
- Variable in class PathPlan.
Discretizer.Rectangle
Continuous coordinates.
dymin
- Variable in class PathPlan.
Discretizer.Rectangle
Continuous coordinates.
E
empty()
- Method in class PathPlan.
PriorityQueue
Empty out the queue.
G
getAction(int)
- Method in class PathPlan.
PathPlanner
Get the next action in our plan.
getActionOK(int)
- Method in class PathPlan.
PathPlanner
Check whether we've planned an action for a given state.
getContX(int)
- Method in class PathPlan.
Discretizer
Translate discrete to continuous X.
getContY(int)
- Method in class PathPlan.
Discretizer
Translate discrete to continuous Y.
getCostImage(double, double)
- Method in class PathPlan.
MDP
Return a grayscale image of the state costs.
getCosts()
- Method in class PathPlan.
MDP
Get the cost of every state as an array.
getDiscX(double)
- Method in class PathPlan.
Discretizer
Translate continuous to discrete X.
getDiscXFraction(double)
- Method in class PathPlan.
Discretizer
Translate continuous to discrete X without rounding (useful only as an intermediate result).
getDiscY(double)
- Method in class PathPlan.
Discretizer
Translate continuous to discrete Y.
getDiscYFraction(double)
- Method in class PathPlan.
Discretizer
Translate continuous to discrete Y without rounding (useful only as an intermediate result).
getDistance(int, int)
- Method in class PathPlan.
MDP
Get the constant portion of the cost of moving in a straight line between states.
getHeight()
- Method in class PathPlan.
Discretizer
Get discrete y range.
getIDs()
- Method in class PathPlan.
PriorityQueue
Get the ids of all nodes in the queue.
getLastPriority()
- Method in class PathPlan.
PriorityQueue
Find the priority of the last node that was removed from the queue (by remove or pop).
getLineCost(int, int)
- Method in class PathPlan.
MDP
Accumulate total costs over a line.
getLineCost(int, int, double[])
- Method in class PathPlan.
MDP
Accumulate total costs over a line.
getMaxSize()
- Method in class PathPlan.
PriorityQueue
Find the largest size that we can make the queue.
getPath(int, int[])
- Method in class PathPlan.
PathPlanner
Get the path from a state to the nearest goal.
getPath(int)
- Method in class PathPlan.
PathPlanner
Get the path from a state to the nearest goal.
getPolicy()
- Method in class PathPlan.
PathPlanner
getPriority(int)
- Method in class PathPlan.
PriorityQueue
Get the priority of a given id.
getSize()
- Method in class PathPlan.
PriorityQueue
Find the size of the queue (number of pops that we can do before emptying it).
getStart()
- Method in class PathPlan.
PathPlanner
Get the start state.
getStepCost()
- Method in class PathPlan.
MDP
Get the per-step base cost.
getTotalCosts()
- Method in class PathPlan.
PathPlanner
getWidth()
- Method in class PathPlan.
Discretizer
Get discrete x range.
getWorking()
- Method in class PathPlan.
PathPlanner
getX(int)
- Method in class PathPlan.
MDP
Get the x coordinate corresponding to a state index.
getXmax()
- Method in class PathPlan.
Discretizer
Get continuous largest x.
getXmin()
- Method in class PathPlan.
Discretizer
Get continuous lowest x.
getY(int)
- Method in class PathPlan.
MDP
Get the y coordinate corresponding to a state index.
getYmax()
- Method in class PathPlan.
Discretizer
Get continuous largest y.
getYmin()
- Method in class PathPlan.
Discretizer
Get continuous smallest y.
H
height
- Variable in class PathPlan.
MapFile
height
- Variable in class PathPlan.
MDP
Size of the MDP.
I
init(MDP)
- Method in class PathPlan.
PathPlanner
Get ready to plan paths in a given MDP.
insert(int, double)
- Method in class PathPlan.
PriorityQueue
Insert an element at the given priority.
isGoal(int)
- Method in class PathPlan.
PathPlanner
Check whether we're at a goal.
isPresent(int)
- Method in class PathPlan.
PriorityQueue
Test for the presence of a known ID in the queue.
ix
- Variable in class PathPlan.
Discretizer.Point
Discrete coordinates.
ixmax
- Variable in class PathPlan.
Discretizer.Rectangle
Integer coordinates.
ixmin
- Variable in class PathPlan.
Discretizer.Rectangle
Integer coordinates.
iy
- Variable in class PathPlan.
Discretizer.Point
Discrete coordinates.
iymax
- Variable in class PathPlan.
Discretizer.Rectangle
Integer coordinates.
iymin
- Variable in class PathPlan.
Discretizer.Rectangle
Integer coordinates.
L
loadMap(String)
- Method in class PathPlan.
MapFile
M
main(String[])
- Static method in class PathPlan.
PathPanel
main(String[])
- Static method in class PathPlan.
PathPlanner
main(String[])
- Static method in class PathPlan.
PriorityQueue
MapFile
- Class in
PathPlan
MapFile(String)
- Constructor for class PathPlan.
MapFile
mapImage
- Variable in class PathPlan.
MapFile
MDP
- Class in
PathPlan
A 2-dimensional MDP.
MDP(int, int, double)
- Constructor for class PathPlan.
MDP
Constructor.
N
numStates()
- Method in class PathPlan.
MDP
How many states do we have?
P
paintComponent(Graphics)
- Method in class PathPlan.
PathPanel
PathPanel
- Class in
PathPlan
A simple user interface for a path planner.
PathPanel(int, int)
- Constructor for class PathPlan.
PathPanel
PathPlan
- package PathPlan
PathPlanner
- Class in
PathPlan
Class to plan paths in a deterministic MDP with positive costs using Dijkstra's algorithm or A*.
PathPlanner()
- Constructor for class PathPlan.
PathPlanner
plan(int)
- Method in class PathPlan.
PathPlanner
Find lowest-cost paths.
plan()
- Method in class PathPlan.
PathPlanner
Plan using however many iterations it takes; equivalent to
PathPlanner.plan(int)
with maxiter=0}.
planmore()
- Method in class PathPlan.
PathPanel
Point(int, int)
- Method in class PathPlan.
Discretizer
Make a point from its discrete coordinates.
Point(double, double)
- Method in class PathPlan.
Discretizer
Make a point from its continuous coordinates.
pop()
- Method in class PathPlan.
PriorityQueue
Remove and return the first element.
predBound()
- Method in class PathPlan.
MDP
Get a bound on the number of predecessors of a state.
predecessors(int, int, boolean[], int[], double[], double[])
- Method in class PathPlan.
MDP
Get information about the possible predecessors of a state.
PriorityQueue
- Class in
PathPlan
A priority queue.
PriorityQueue(int)
- Constructor for class PathPlan.
PriorityQueue
Make a new queue.
prunePath(int[])
- Method in class PathPlan.
PathPlanner
Delete nodes from a path to try to make it shorter.
R
raise(int, double)
- Method in class PathPlan.
PriorityQueue
If an element is in the priority queue at a later priority, raise it; if it is not there, insert it.
Rectangle(int, int, int, int)
- Method in class PathPlan.
Discretizer
Make a Rectangle from its discrete coordinates.
Rectangle(double, double, double, double)
- Method in class PathPlan.
Discretizer
Make a Rectangle from its continuous coordinates.
remove(int)
- Method in class PathPlan.
PriorityQueue
Remove an element from the queue if it's there.
replan()
- Method in class PathPlan.
PathPanel
S
set(int, double)
- Method in class PathPlan.
PriorityQueue
Reset the priority of an element, or insert it if it's not already there.
set16connected()
- Method in class PathPlan.
MDP
Set to a 16-connected (5x5 actions, removing duplicate directions) grid
set8connected()
- Method in class PathPlan.
MDP
Set to an 8-connected (3x3 actions) grid
setCont(double, double)
- Method in class PathPlan.
Discretizer.Point
Set the continuous coordinates.
setContinuousRange(double, double, double, double)
- Method in class PathPlan.
Discretizer
Set the range of the continuous coordinates
setCosts(double[], double)
- Method in class PathPlan.
MDP
Set the state costs for the MDP.
setCosts(double)
- Method in class PathPlan.
MDP
Initialize to a constant cost per step.
setDisc(int, int)
- Method in class PathPlan.
Discretizer.Point
Set the discrete coordinates.
setDiscreteRange(int, int)
- Method in class PathPlan.
Discretizer
Set the range of the discrete coordinates
setStart(int)
- Method in class PathPlan.
PathPlanner
Set the start state.
setStepCost(double)
- Method in class PathPlan.
MDP
Set the per-step base cost.
stack(float[][], double)
- Static method in class PathPlan.
MapFile
stateIndex(int, int)
- Method in class PathPlan.
MDP
Translate x, y into state index.
stepForward()
- Method in class PathPlan.
PathPanel
succBound()
- Method in class PathPlan.
MDP
Get a bound on the number of successors of a state.
successors(int, boolean[], int[], double[])
- Method in class PathPlan.
MDP
Get information about the possible successors of a state.
T
toString()
- Method in class PathPlan.
Discretizer.Rectangle
Printable representation
W
width
- Variable in class PathPlan.
MapFile
width
- Variable in class PathPlan.
MDP
Size of the MDP.
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